Considering the many motor selection methodologies that emphasize large gap radius (Section ), it is no surprise that one of the most commonly used motors in legged robots is the large radius, exterior-rotating T-Motor U8 and “8108” size equivalents (e.g., iFlight EX8, SunnySky M8) [1]}, [2]}, [3]}, [4]}, [5]}, [6]}, [7]}, [8]} (U8 properties in Table REF ).
For these robots, the U8 style motor is often the largest, commonly available motor that will meet design size requirements.
The U8 is also used as the jumping-off point and benchmark to propose new motors in [9]}.
Due to its ubiquity, we use the U8 as a benchmark.
